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amarburgamarburg
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Moved Mavros build to a build stage, which hopefully will get cached.
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‎.docker/Dockerfile

+101-43
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,102 @@
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ARG ROS_DISTRO=rolling
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FROM ros:$ROS_DISTRO-ros-base AS ci
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FROM ros:$ROS_DISTRO-ros-base AS base
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# Create the non-root user early because both "mavros" and "robot"
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# stages depend its existence
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& apt-get -q install --no-install-recommends -y \
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git \
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gosu \
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sudo \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Ubuntu 24.04 "Noble", which is used as the base image for
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# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
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ARG USERNAME=ubuntu
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& usermod -a -G dialout $USERNAME \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
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ENV DEBIAN_FRONTEND=noninteractive
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ENV USER=$USERNAME
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# This needs to be defined in a shared stage so it's available in both "mavros" and "robot"
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ENV MAVROS_WORKSPACE=/home/$USERNAME/ws_mavros
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#== Build Mavros/Mavlink from source in its own workspace.
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# Extend that workspace into the "blue" workspace
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#
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FROM base AS mavros
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ENV DEBIAN_FRONTEND=noninteractive
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USER $USERNAME
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WORKDIR $MAVROS_WORKSPACE/src
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# As a reminder to self. git clone by itself will not break cache
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# when the repo changes. To rebuild mavros from the latest, you
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# must "docker build --no-cache" to force a rebuild
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ARG MAVROS_RELEASE=ros2
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ARG MAVLINK_RELEASE=release/rolling/mavlink
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RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
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RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
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# Fix two issues currently in mavros/ros2
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# - mavgen uses future.standard_library for backwards compatibility with Python2;
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# However, this caused issues with Python 3.12 installed in "noble".
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# Comment those lines out in mavlink.
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#
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# - Fix linkage for yaml-cpp in mavros_extra_plugins
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RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
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-e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
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mavlink/pymavlink/generator/mavgen.py && \
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sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
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-e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
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-e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
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mavros/mavros_extras/CMakeLists.txt
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WORKDIR $MAVROS_WORKSPACE
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USER root
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& gosu $USERNAME rosdep update \
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&& gosu $USERNAME rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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USER $USERNAME
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# Build Mavros workspace
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RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
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&& colcon build \
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&& rm -rf $MAVROS_WORKSPACE/build
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# == "Standard" Blue Docker image proceeds from here
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#
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FROM base AS ci
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ENV DEBIAN_FRONTEND=noninteractive
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USER root
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WORKDIR /root/ws_blue
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COPY . src/blue
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# Install apt packages needed for CI
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#
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# Explicitly uninstall and block mavros and mavlink packages from APT
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# this will trigger an error if rosdep attempts to install mavros
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# from APT rather than using the version in $MAVROS_WORKSPACE
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& apt-get remove -y "*mavros*" "*mavlink*" \
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&& apt-mark hold "*mavros*" "*mavlink*" \
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&& apt-get -q install --no-install-recommends -y \
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git \
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sudo \
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clang \
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clang-format-14 \
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clang-tidy \
@@ -27,12 +112,17 @@ RUN apt-get -q update \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install all ROS dependencies for _just_ blue
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# (we have not imported other repos from .repos files)
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# As it's a dependency for blue, copy Mavros from its build stage
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COPY --from=mavros --chown=$USERNAME:$USERNAME $MAVROS_WORKSPACE $MAVROS_WORKSPACE
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# Install all ROS dependencies for _just_ blue (and mavros)
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# (we have not imported the other repos from blue.repos files)
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
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&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
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&& rosdep install -y --from-paths ${MAVROS_WORKSPACE}/src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& rm -rf src \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
@@ -48,23 +138,8 @@ RUN apt-get -q update \
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#
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FROM ci AS robot
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#
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# Ubuntu 24.04 "Noble", which is used as the base image for
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# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
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ARG USERNAME=ubuntu
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& usermod -a -G dialout $USERNAME \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
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ENV DEBIAN_FRONTEND=noninteractive
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# Switch to the non-root user for the rest of the installation
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USER $USERNAME
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ENV USER=$USERNAME
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# Python in Ubuntu is now marked as a "Externally managed environment",
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# Per best practice, create a venv for local python packages
@@ -108,41 +183,23 @@ RUN sudo apt-get -q update \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Manually install MAVROS from source in the ws_blue/ workspace
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WORKDIR $USER_WORKSPACE/src/
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ARG MAVROS_RELEASE=ros2
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ARG MAVLINK_RELEASE=release/rolling/mavlink
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RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
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RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
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# - mavgen uses future.standard_library for backwards compatibility with Python2;
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# However, this caused issues with Python 3.12 installed in "noble".
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# Comment those lines out in mavlink.
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#
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# - Fix linkage for yaml-cpp in mavros_extra_plugins
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RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
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-e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
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mavlink/pymavlink/generator/mavgen.py && \
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sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
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-e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
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-e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
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mavros/mavros_extras/CMakeLists.txt
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WORKDIR $USER_WORKSPACE
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& vcs import src < src/blue/blue.repos \
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&& rosdep update \
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&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
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&& rosdep install -y --from-paths ${MAVROS_WORKSPACE}/src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Actually build workspace
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RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
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RUN . "${MAVROS_WORKSPACE}/install/setup.sh" \
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&& colcon build
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RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
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&& echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \
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&& echo "source $VIRTUAL_ENV/bin/activate" >> /home/$USERNAME/.bashrc \
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&& echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
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@@ -219,6 +276,7 @@ RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& vcs import src < src/blue/sim.repos \
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&& rosdep update \
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&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
@@ -227,7 +285,7 @@ RUN sudo apt-get -q update \
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# For users that build this on a laptop or system with limited RAM,
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# Modify the 'colcon build' line to be 'MAKEFLAGS="-j1 -l1" colcon build'
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# This will limit the amount of RAM that colcon is allowed to use
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RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
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RUN . "${MAVROS_WORKSPACE}/install/setup.sh" \
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&& colcon build
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# Setup the simulation environment variables

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